# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: MABEL
summary: MABEL is an open-source legged balancing robot based on the Boston Dynamics Handle, with articulated legs that can adjust height and balance in multiple axes.
category: other
difficulty: advanced
license:
  hardware: GPL-3.0-only
  software: GPL-3.0-only
source:
  repository: https://github.com/raspibotics/MABEL
  ref: 81a43d78d79966e294b32c773acf14214ad88278
tools:
  - 3D printer
  - bench vice
  - hairdryer
  - soldering iron
files:
  parts_3d: CAD/3D Models (To print)/
  cad: CAD/Project Files/
  docs: docs/
  images:
    - docs/images/MABEL.jpeg
software:
  framework: arduino
build_steps:
  - title: Press the bearings into the leg joints
  - title: Attach 4 MG996R servos to the upper legs and body panels with M4 bolts
  - title: Push fit and screw the servo horns into the driver gears and attach them to the
  - title: Attach the NEMA17 motors to the lower legs and fit the wheels
  - title: Attach the lower legs, upper legs and body panels together with M5 locknuts